A graph-based diffusion model trained only on procedurally generated pseudo-demonstrations lets a robot perform new manipulation tasks from one or two test-time demonstrations.
We did so to match the distribution of object poses to the one present in our generated pseudo-demonstrations
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Instant Policy: In-Context Imitation Learning via Graph Diffusion
A graph-based diffusion model trained only on procedurally generated pseudo-demonstrations lets a robot perform new manipulation tasks from one or two test-time demonstrations.